A Newton-like algorithm to compute the inverse of a nonlinear map that converges in finite time

• Autores: Laura Menini, Corrado Possieri, Antonio Tornambé
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Vol. 89, 2018, págs. 411-414
• Idioma: inglés
• Texto completo no disponible (Saber más ...)
• Resumen

  • This paper deals with the problem of inverting a nonlinear map. The proposed solution consists in a nonlinear state observer, which mimics a Newton-like algorithm, that allows to determine the inverse of a given diffeomorphism in finite time. The results are illustrated by application to the inverse kinematics of a three DOF planar manipulator.